Roads and streets are public rights of way, and as such, are subject to regulation by lawful authorities. Using a public road incurs costs, and those costs have to be borne by taxpayers. In order to insure that vehicles and drivers paid their share of operating costs, it became useful to tax (driver's license fees, and vehicle license and registration fees). Eventually the Feds got in on the act, under the commerce clause (U.S. and Interstate highways). Governments also have the authority to annex property to be used for roads and streets through those rights of way.
There's also the intent that the driver, through mandatory insurance or bond, be financially responsible for any potential damage (wrecks, etc.).
I understand that the 9th Amendment covers un-enumerated rights, but English common law probably is a better comparison.